Robust Gait Phase Estimation With Discrete Wavelet Transform for Walking Assistance on Multiple Terrains

• Published in: IEEE robotics and automation letters Vol. 10; no. 6; pp. 6031 - 6038
• Main Authors: Zhou, Libo, Jiang, Feiyu, Bai, Shaoping, Feng, Yuanjing, Ou, Linlin, Yu, Xinyi
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.06.2025; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Accuracy; Adaptive oscillators (AOs); Datasets; Discrete Wavelet Transform; discrete wavelet transform (DWT); Discrete wavelet transforms; Estimation; Exoskeletons; gait phase estimation; Hip; Inertial platforms; Inertial sensing devices; Legged locomotion; Mutation; Oscillators; Phase estimation; prosthetics and exoskeletons; Real-time systems; Training; transition detection; Walking; Wavelet transforms

Gait phase detection is crucial to realize personalized assistive functions of lower limb exoskeletons. A common method of gait phase estimation is the adaptive oscillator, which performs well in periodic gaits. However, these types of methods fail in gait phase estimation under aperiodic gait cycle...